Mobile body, information processor, mobile body system, information processing method, and information processing program

ABSTRACT

A mobile body includes: an imaging unit; a movement mechanism that moves itself; a wireless communication unit that performs wireless communication; and an information generator that generates, on a basis of external information received from outside by the wireless communication unit, route guidance information for use in allowing the movement mechanism to move itself.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit under 35 U.S.C. § 120 as acontinuation application of U.S. application Ser. No. 15/750,951, filedon Feb. 7, 2018, which is a U.S. National Stage entry under 35 U.S.C. §371 of International Application No. PCT/JP2016/072634, filed in theJapan Patent Office on Aug. 2, 2016, which claims priority to PatentApplication No. JP2015-160051, filed in the Japan Patent Office on Aug.14, 2015, each of which is incorporated by reference herein in itsentirety.

TECHNICAL FIELD

The present disclosure relates to a mobile body having an imaging unitand a movement mechanism and a mobile body system including such amobile body and an information processor, and to an informationprocessor, an information processing method, and an informationprocessing program that are applied to such a mobile body system.

BACKGROUND ART

There is technology called “Telepresence” that makes it possible tocreate a situation that a user is virtually present at a remote site byremotely operating a mobile body (robot) present at the remote site bythe user with use of an operation device (for example, an informationprocessor such as a smartphone). Moreover, a robot to which thistechnology is applied is referred to as “Telepresence Robot”. Thesetechniques have been disclosed in, for example, PTL 1, etc.

CITATION LIST Patent Literature

PTL 1: U.S. patent application publication No. 2013/0325244

SUMMARY OF THE INVENTION

Incidentally, in general, it is demanded to improve user convenience ina system (mobile body system) using such a mobile body. Accordingly, itis desirable to propose techniques to improve user convenience.

It is desirable to provide a mobile body, an information processor, amobile body system, an information processing method, and an informationprocessing program that make it possible to improve user convenience.

A mobile body according to an embodiment of the present disclosureincludes: an imaging unit; a movement mechanism that moves itself; awireless communication unit that performs wireless communication; and aninformation generator that generates, on a basis of external informationreceived from outside by the wireless communication unit, route guidanceinformation for use in allowing the movement mechanism to move itself.

A first information processing method according to an embodiment of thepresent disclosure includes: a first step of receiving externalinformation from outside through wireless communication in a mobile bodyincluding an imaging unit and a movement mechanism; and a second step ofgenerating route guidance information for use in moving the mobile bodyby the movement mechanism on a basis of the external informationreceived in the first step.

A first information processing program according to an embodiment of thepresent disclosure causes, when executed by a computer in a mobile body,the computer to implement: a first step of receiving externalinformation from outside through wireless communication in the mobilebody including an imaging unit and a movement mechanism; and a secondstep of generating route guidance information for use in moving themobile body by the movement mechanism on a basis of the externalinformation received in the first step.

In the mobile body, the first information processing method, and thefirst information program according to the respective embodiments of thepresent disclosure, the route guidance information for use in moving themobile body by the movement mechanism is generated on the basis of theexternal information received from outside in the mobile body. Thismakes it possible to easily create the route guidance information in themobile body.

An information processor according to an embodiment of the presentdisclosure includes: a wireless communication unit that performswireless communication with a mobile body including an imaging unit anda movement mechanism; a user interface unit; a storage unit; and aninformation generator that generates route guidance information for usein moving the mobile body by the movement mechanism on a basis of one ormore pieces of information out of received information received from themobile body by the wireless communication unit, input informationinputted by a user in the user interface unit, and held information heldin the storage unit.

A second information processing method according to an embodiment of thepresent disclosure includes: a first step of obtaining one or morepieces of information out of received information received from a mobilebody including an imaging unit and a movement mechanism through wirelesscommunication with the mobile body, input information inputted from auser in a user interface unit in an information processor, and heldinformation held in a storage unit in the information processor; and asecond step of generating route guidance information for use in movingthe mobile body by the movement mechanism on a basis of the one or morepieces of information obtained in the first step.

A second information processing program according to an embodiment ofthe present disclosure causes, when executed by a computer in aninformation processor, the computer to implement: a first step ofobtaining one or more pieces of information out of received informationreceived from a mobile body including an imaging unit and a movementmechanism through wireless communication with the mobile body, inputinformation inputted from a user in a user interface unit in theinformation processor, and held information held in a storage unit inthe information processor; and a second step of generating routeguidance information for use in moving the mobile body by the movementmechanism on a basis of the one or more pieces of information obtainedin the first step.

In the information processor, the second information processing method,and the second information processing program according to therespective embodiments of the present disclosure, the route guidanceinformation for use in moving the mobile body by the movement mechanismis generated on the basis of one or more pieces of information out ofthe received information received from the mobile body, the inputinformation inputted by the user, and the held information held in thestorage unit. This makes it possible to easily create the route guidanceinformation in the information processor.

A mobile body system according to an embodiment of the presentdisclosure includes: a mobile body including an imaging unit, a firstwireless communication unit, and a movement mechanism that moves itself;and an information processor including a second wireless communicationunit, a user interface unit, and a storage unit, the second wirelesscommunication unit that performs wireless communication with the mobilebody. One or both of a first information generator in the mobile bodyand a second information generator in the information processor areprovided. The first information generator generates first information asroute guidance information for use in moving the mobile body by themovement mechanism on a basis of external information received fromoutside by the first wireless communication unit, and the secondinformation generator generates second information as the route guidanceinformation on a basis of one or more pieces of information out ofreceived information received from the mobile body by the secondwireless communication unit, input information inputted by a user in theuser interface unit, and held information held in the storage unit.

In the mobile body system according to the embodiment of the presentdisclosure, one or both of the first information generator thatgenerates the first information as the route guidance information in themobile body and the second information generator that generates thesecond information as the route guidance information in the informationprocessor are provided. This makes it possible to easily create theforegoing route guidance information in one or both of the mobile bodyand the information processor.

According to the mobile body, the first information processing method,and the first information processing program of the respectiveembodiments of the disclosure, the foregoing route guidance informationis generated on the basis of the foregoing external information, whichmakes it possible to easily create the route guidance information in themobile body. This makes it possible to improve convenience of the user.

According to the information processor, the second informationprocessing method, and the second information processing program of therespective embodiments of the present disclosure, the foregoing routeguidance information is generated on the basis of one or more pieces ofinformation out of the foregoing received information, the foregoinginput information, and the foregoing held information, which makes itpossible to easily create the route guidance information in theinformation processor. This makes it possible to improve convenience ofthe user.

According to the mobile body system of the embodiment of the presentdisclosure, one or both of the foregoing first information generator andthe foregoing second information generator are provided, which makes itpossible to easily create the foregoing route guidance information inone or both of the mobile body and the information processor. This makesit possible to improve convenience of the user.

It is to be noted that effects are not necessarily limited to theeffects described here, and may be one or more of effects described inthe present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic view of a schematic configuration example of amobile body system according to an embodiment of the present disclosure.

FIG. 2A is a schematic view of another schematic configuration exampleof a mobile body applied to the mobile body system illustrated in FIG.1.

FIG. 2B is a schematic view of another schematic configuration exampleof the mobile body applied to the mobile body system illustrated in FIG.1.

FIG. 2C is a schematic view of another schematic configuration exampleof the mobile body applied to the mobile body system illustrated in FIG.1.

FIG. 3 is a block diagram illustrating a specific configuration exampleof the mobile body system illustrated in FIG. 1.

FIG. 4 is a flow chart illustrating an operation example in a case whereroute guidance information is generated in the mobile body illustratedin FIG. 3.

FIG. 5 is a flow chart illustrating an operation example in a case whereroute guidance information is generated in an operation deviceillustrated in FIG. 3.

FIG. 6 is a diagram illustrating an example of a correspondencerelationship between kinds of move modes and various kinds ofinformation to be applied.

FIG. 7 is a schematic view of an example of a route plan correspondingto generated route guidance information.

FIG. 8 is a schematic view of an example of an operation in a case of“Mode 1” illustrated in FIG. 6.

FIG. 9 is a schematic view of another example of the operation in thecase of “Mode 1” illustrated in FIG. 6.

FIG. 10 is a schematic view of an application example in a case of “Mode2” illustrated in FIG. 6.

FIG. 11 is a schematic view of an example of schedule information to beapplied in a case of “Mode 3” illustrated in FIG. 6.

FIG. 12 is a schematic view of an example of an operation in a case of“Mode 4” illustrated in FIG. 6.

FIG. 13 is a schematic view of an example of an operation in a case of“Mode 6” illustrated in FIG. 6.

FIG. 14 is a schematic view of an example of an operation in a case ofanother move mode.

FIG. 15 is a schematic view of another example of an operation in a caseof another move mode.

FIG. 16 is a block diagram illustrating a configuration example of amobile body system according to a modification example 1.

FIG. 17 is a schematic view of an example of a communication operationaccording to the modification example 1.

FIG. 18 is a schematic view of another example of the communicationoperation according to the modification example 1.

FIG. 19 is a block diagram illustrating a schematic configurationexample of a mobile body system according to a modification example 2.

FIG. 20 is a block diagram illustrating a schematic configurationexample of a mobile body system according to a modification example 3.

MODES FOR CARRYING OUT THE INVENTION

In the following, some embodiments of the present disclosure aredescribed in detail with reference to the drawings. It is to be notedthat description is given in the following order.

1. Embodiment (an example in which an information generator is providedin each of a mobile body and an information processor)

2. Modification Examples

Modification Example 1 (an example in a case where a communicationoperation is performed between a plurality of mobile bodies)

Modification Example 2 (an example in which the information generator isprovided only in the mobile body)

Modification Example 3 (an example in which the information generator isprovided only in the information processor)

3. Other Modification Examples 1. Embodiment Schematic ConfigurationExample

FIG. 1 schematically illustrates a schematic configuration example of amobile body system (mobile body system 3) according to an embodiment ofthe present disclosure. The mobile body system 3 includes a mobile body1 serving as a so-called “Telepresence Robot” and an operation device(information processor) 2 for this mobile body 1. The operation device 2is operated by a user 9 of the mobile body system 3 (the mobile body 1).Moreover, the mobile body 1 and the operation device 2 each have afunction of performing mutual communication (wireless communication C12in this example), which allows for exchange (transmission and reception)of various kinds of information (data) between the mobile body 1 and theoperation device 2.

It is to be noted that each of a first information processing method anda first information processing program according to embodiments of thepresent disclosure is embodied by the mobile body 1 according to thepresent embodiment. Moreover, each of a second information processingmethod and a second information processing program according toembodiments of the present disclosure is embodied by the operationdevice 2 according to the present embodiment. Hence, these methods andprograms are also described below.

Mobile Body 1

The mobile body 1 is a robot that is allowed to move itself by amovement mechanism 10. The mobile body 1 includes, for example, themovement mechanism 10, a microphone 111, a display unit 112, an imagingunit 113, and a connection unit 19.

The movement mechanism 10 is, for example, a mechanism that moves themobile body 1 itself, as indicated by a dashed arrow M1 in FIG. 1. Inthis example, the movement mechanism 10 includes two wheel mechanismsand a driving mechanism (such as a motor) that drives the wheelmechanisms. Accordingly, the mobile body 1 is movable forward andbackward, for example (refer to the arrow M1).

Alternatively, for example, any of other configurations may be used asthe movement mechanism 10 in the mobile body 1, as illustrated in eachof FIGS. 2A, 2B, and 2C. It is to be noted that this also applies tovarious modification examples, etc. to be described later.

Specifically, in an example of the mobile body 1 illustrated in FIG. 2A,the movement mechanism 10A includes four wheel mechanisms and a drivingmechanism that drives the wheel mechanisms. In other words, in theexample in FIG. 2A, the mobile body 1 includes an automobile (afour-wheeled vehicle having an automatic operation function).

In one example of the mobile body 1 illustrated in FIG. 2B, a movementmechanism 10B includes a bipedal walking mechanism and a drivingmechanism that drives the bipedal walking mechanism. In other words, inthe example in FIG. 2B, the mobile body 1 includes a bipedal walkinghumanoid robot.

In another example of the mobile body 1 illustrated in FIG. 2C, amovement mechanism 10C includes a flying mechanism using four propellersand a driving mechanism for the propellers. In other words, in theexample in FIG. 2C, the mobile body 1 includes an unmanned aerialvehicle.

It is to be noted that the mobile body 1 is not limited to the examplesillustrated in FIGS. 2A, 2B, and 2C, and may include, for example, atwo-wheeled vehicle, a three-wheeled vehicle, a quadrupedal walkinganimal-type robot, a flight vehicle using a jet engine, etc.

The microphone 111 illustrated in FIG. 1 is a member that converts soundinto an electric signal, and in this example, the microphone 111 isdisposed in a frame region of the display unit 122 to be describedlater. Any of various types of microphones may be used as such amicrophone 111.

The display unit 112 is a member used to display various kinds ofinformation, and is configured using a display by any of various kindsof systems (such as a liquid crystal display and an organic EL (ElectroLuminescence) display). This display unit 112 is allowed to display, forexample, a face of the user 9, etc., as illustrated in FIG. 1.Specifically, for example, sound inputted to the microphone 111 ischecked against information held in an external server (for example, anexternal server 8 to be described later) to display an image (such asthe face of the user 9) linked to a person (such as the user 9) whoutters the sound.

It is to be noted that the display unit 112 may be provided with thefollowing height adjustment function, for example. In other words, facerecognition processing may be performed on the basis of imageinformation taken by the imaging unit 113 to be described later toautomatically adjust a height of the display unit 112 in accordance witha position (height) of a recognized face (for example, refer to a dashedarrow M2 in FIG. 1).

The imaging unit 113 is a member that performs an imaging operation toobtain captured image data Di to be described later. The imaging unit113 is disposed in the frame region of the display unit 112 in thisexample. Such an imaging unit 113 is configured using, for example, aCCD (Charge Coupled Device) or CMOS (Complementary Metal OxideSemiconductor) imaging element (image sensor), etc.

The connection unit 19 is a member that connects the movement mechanism10 to the display unit 112, as illustrated in FIG. 1, and includes astick-like member extending in a vertical direction.

Operation Device 2

The operation device 2 serves as an operation device (operationterminal) for the mobile body 1, as described above, and corresponds toa specific example of an “information processor” in the presentdisclosure. The operation device 2 is operated by, for example, the user9, etc., at a residence 90. Such an operation device 2 includes, forexample, a mobile device such as a smartphone, a mobile phone, and adedicated terminal.

Block Configuration Example

Next, description is given of a specific configuration example of such amobile body system 3 with reference to FIG. 3. FIG. 3 illustrates ablock diagram of each of the mobile body 1 and the operation device 2 asthe specific configuration example of the mobile body system 3.

Mobile Body 1

The mobile body 1 includes a storage unit 12, a wireless communicationunit 13, a position detector 141, an anomaly detector 142, a battery 16,an information generator 17, and a controller 18, in addition to themovement mechanism 10, the microphone 111, the display unit 112, and theimaging unit 113 mentioned above in FIG. 1.

It is to be noted that each of the electrical signal obtained by themicrophone 111 and the captured image data Di obtained by the imagingunit 113 is inputted to the controller 18 to be described later, asillustrated in FIG. 3. Moreover, display image data to be used in thedisplay unit 112 is supplied from the controller 18 to the display unit112.

The storage unit 12 is a portion that stores (holds) various kinds ofdata, and input-output processing of these data is performed between thestorage unit 12 and the controller 18 on an as-needed basis. Such astorage unit 12 includes, for example, any of various kinds of recordingmedia including a magnetic recording medium, an optical storage medium,and semiconductor memories such as a ROM (Read Only Memory) and a RAM(Random Access Memory).

The wireless communication unit 13 has a function of performing wirelesscommunication C12 with a wireless communication unit 23 to be describedlater in the operation device 2, as illustrated in FIG. 3. This makes itpossible to perform wireless communication (wireless transmission andreception) of various kinds of information (for example, externalinformation I12 and I21 to be described later, etc.) between the mobilebody 1 and the operation device 2. This wireless communication unit 13also has, for example, a function of performing wireless communicationC18 with an external device (an external server 8 in this example) otherthan the operation device 2, as illustrated in FIG. 3. In other words,external information I81 to be described later, etc. may be suppliedfrom the external server 8 to the wireless communication unit 13 throughthe wireless communication C18. It is to be noted that the wirelesscommunication unit 13 corresponds to a specific example of a “firstwireless communication unit” in the present disclosure.

Herein, examples of such wireless communications C12 and C18 includecommunication systems such as wireless LAN (Local Area Network),Bluetooth (registered trademark), TransferJet (registered trademark),and NFC (Near Field Communication). Note that the wirelesscommunications C12 and C18 may be performed with use of any othercommunication system without limiting to these communication systems.

The position detector 141 is a portion that detects whether the mobilebody 1 is located in an area (for example, a wireless communication area93 to be described later) where the wireless communication C12, thewireless communication C18, etc. are executable, as described in detaillater. It is to be noted that such position detection is performed withuse of, for example, a GPS (Global Positioning System) function.

The anomaly detector 142 is a portion that compares a same point betweenthe captured image data Di obtained at a present time by the imagingunit 113 and the captured image data Di obtained at a past time by theimaging unit 113 to detect a predetermined anomaly (presence or absenceof an anomaly state) to be described later, as described in detaillater.

The battery 16 serves as a power source of the mobile body 1 (supplieselectric power Pb to each block in the mobile body 1), and includes anyof various system cells. In this example, a solar cell 160 thatgenerates electric power with use of sunlight Ls is used as a cellincluded in the battery 16, as illustrated in FIG. 3. Note that thebattery 16 may be configured using any other kind of cell (such as aprimary cell and a secondary cell) without limiting to the foregoingcell. Specifically, for example, a lithium-ion cell, a fuel cell, etc.may be used.

The information generator 17 is a portion that generates route guidanceinformation Ir1 for use in moving the mobile body 1 by the movementmechanism 10, on the basis of external information received from outside(such as the operation device 2 or the external server 8) by thewireless communication unit 13, as described in detail later. Examplesof the external information include inherent information (the externalinformation I21) held in the operation device 2 and information (theexternal information I81) held in the external server 8. Moreover,examples of the inherent information (the external information 121) inthe operation device 2 include information (GPS information) regarding aGPS in the operation device 2, search history information in theoperation device 2, etc., as described in detail later. However, theinherent information is not limited thereto, and may include other kindsof information to be described later. It is to be noted that anoperation of generating the route guidance information Ir1 in theinformation generator 17 is described in detail later.

Herein, the information generator 17 corresponds to a specific exampleof a “first information generator” in the present disclosure. Moreover,the route guidance information Ir1 corresponds to a specific example of“first information” in the present disclosure.

The controller 18 performs various kinds of control, processing, etc. inthe mobile body 1. Specifically, the controller 18 performs control,etc. of operations in respective blocks (such as the movement mechanism10, the microphone 111, the display unit 112, the imaging unit 113, thestorage unit 12, the wireless communication unit 13, the positiondetector 141, the anomaly detector 142, the battery 16, and theinformation generator 17) in the mobile body 1, as illustrated in FIG.3. To give an example, the controller 18 has a function of performingcontrol of an operation of moving the mobile body 1 by the movementmechanism 10 on the basis of a control signal CTL. Such a controller 18includes, for example, a microcomputer or the like using a CPU (CentralProcessing Unit), a ROM, a RAM, etc. It is to be noted that a controloperation, etc. in the controller 18 is described in detail later.

Herein, the controller 18 corresponds to a specific example of a“movement controller” in the present disclosure. Moreover, thecontroller 18 and the information generator 17 correspond to specificexamples of a “computer in a mobile body” in the present disclosure.

Operation Device 2

The operation device 2 includes a user interface unit (informationinput-output unit) 21, a storage unit 22, the wireless communicationunit 23, an information generator 27, and a controller 28, asillustrated in FIG. 3.

The user interface unit 21 includes an information input unit 211 and adisplay unit 212 in this example. Note that, the user interface unit 21may be configured using any other member in addition to (or in place of)the information input unit 211 and the display unit 212.

The information input unit 211 is a portion that receives various kindsof information (input information Ii) (a portion used to obtain theinput information Ii) in accordance with an operation by the user 9.Such an information input unit 211 is configured using, for example, apredetermined keyboard, a predetermined button, a predetermined touchpanel, etc.

The display unit 212 is a member used to display various kinds ofinformation, and is configured using a display by any of various kindsof systems. Specifically, for example, the route guidance informationIr1 generated in the foregoing information generator 17, route guidanceinformation Ir2 generated in the information generator 27 to bedescribed later, etc. are displayed on this display unit 212, asillustrated in FIG. 3.

The storage unit 22 is a portion that stores (holds) various kinds ofdata, and performs input-output processing of these data (for example,held information Ih to be described later) with the controller 28 on anas-needed basis. Such a storage unit 22 includes any of various kinds ofrecording media, as with the foregoing storage unit 12.

The wireless communication unit 23 has a function of performing thewireless communication C12 with the foregoing wireless communicationunit 13 in the mobile body 1, as illustrated in FIG. 3. This makes itpossible for the wireless communication unit 23 to receive the externalinformation I12 from the mobile body 1 and transmit the externalinformation I21 to the mobile body 1, as described above. It is to benoted that the wireless communication unit 23 corresponds to a specificexample of a “second wireless communication unit” in the presentdisclosure.

The information generator 27 is a portion that generates the routeguidance information Ir2 for use in moving the mobile body 1 by themovement mechanism 10, on the basis of various kinds of information, asbe described in detail later. Examples of the various kinds ofinformation include one or more pieces of information out of receivedinformation (the external information I12) received from the mobile body1 by the wireless communication unit 23, input information Ii inputtedfrom the user 9 in the user interface unit 21 (the information inputunit 211), and the held information Ih held in the storage unit 22, asillustrated in FIG. 3. Moreover, in this example, the route guidanceinformation Ir2 is generated on the basis of the external informationI12, the input information Ii, and the held information Ih.

Herein, examples of the external information 121 include movementhistory information in the mobile body 1, as described in detail later.Examples of the input information Ii include search history information(history information of information search executed by an operation bythe user 9) in the operation device 2, as described later. Examples ofthe held information Ih include information (GPS information) regardingthe GPS in the operation device 2, as described later. However, theroute guidance information Ir2 may be generated with use of any otherkind of information to be described later without limiting to thesekinds of information. It is to be noted that an operation of generatingthe route guidance information Ir2 in the information generator 27 isdescribed in detail later.

Such an information generator 27 corresponds to a specific example of a“second information generator” in the present disclosure. Moreover, theroute guidance information Ir2 corresponds to a specific example of“second information” in the present disclosure.

The controller 28 performs various kinds of control, processing, etc. inthe operation device 2. Specifically, the controller 28 performscontrol, etc. of operations in respective blocks (such as the userinterface unit 21, the storage unit 22, the wireless communication unit23, and the information generator 27) in the operation device 2, asillustrated in FIG. 3. As with the foregoing controller 18, such acontroller 28 includes, for example, a microcomputer or the like, asillustrated in FIG. 3. It is to be noted that a control operation, etc.in the controller 28 is described in detail later.

Herein, the controller 28 and the information generator 27 correspond tospecific examples of a “computer in an information processor” in thepresent disclosure.

Operation, Workings, and Effects A. Basic Operation

In the mobile body system 3, for example, the user 9 performs a remoteoperation (an operation using the wireless communication C12) on themobile body 1 present in a remote site with use of the operation device2 to provide a situation that the user 9 is virtually present at theremote site, as illustrated in FIGS. 1 and 3. Specifically, for example,while the face, etc. of the user 9 is displayed on the display unit 112of the mobile body 1, the mobile body 1 performs a movement operation inaccordance with a predetermined route (refer to the dashed allow M1 inFIG. 1). This route is set (selected and determined) by the user 9 onthe basis of the route guidance information generated by a techniquedescribed below.

B. Outline of Operation of Generating Route Guidance Information

Next, description is given of an outline of an operation of generatingroute guidance information (the route guidance information Ir1 and Ir2)in the mobile body system 3 with reference of FIG. 4, FIG. 5, etc.Specifically, a case of generation in the mobile body 1 (FIG. 4) and acase of generation in the operation device 2 (FIG. 5) are separatelydescribed in this order.

B-1. Case of Generation in Mobile Body 1

FIG. 4 illustrates a flow chart of an operation example in the mobilebody 1 and the operation device 2 in time sequence in a case where theroute guidance information Ir1 is generated in the mobile body 1 (theinformation generator 17). It is to be noted that reference numeralsattached beside some of steps in FIG. 4 each indicate a block (refer toFIG. 3) that mainly performs a processing operation in the step in themobile body 1 or the operation device 2.

In this operation example, first, predetermined software (applicationsoftware) is downloaded in each of the operation device 2 and the mobilebody 1, and thereafter, the user 9 performs a predetermined log-inoperation (step S101 in FIG. 4). Specifically, the user 9 performs apredetermined operation on the operation device 2 (for example,inputting of information such as a user name and a password in theinformation input unit 211) to perform such a log-in operation on themobile body 1 from the operation device 2 with use of the wirelesscommunication C12. This makes it possible to execute a remote operationon the mobile body 1 with use of the operation device 2.

Next, a response signal with respect to such a log-in operation istransmitted from the mobile body 1 to the operation device 2 with use ofthe wireless communication C12 (step S102).

Subsequently, for example, the user interface unit 21 (the informationinput unit 211 and the display unit 212) in the operation device 2 isused to set (select and determine) a move mode Mm (a mode used in a casewhere the mobile body 1 performs a movement operation) to be describedlater by the user 9 (step S103). Thereafter, mode setting information Imto be described later is transmitted from the operation device 2 to themobile body 1 with use of the wireless communication C12 (step S104).This mode setting information Im is information indicating the set movemode Mm, as described in detail later.

Next, the information generator 17 in the mobile body 1 obtains externalinformation (various kinds of information to be described later) fromoutside of the mobile body 1 (step S105), as described in detail later.Specifically, in this example, the mobile body 1 receives the externalinformation I21, the external information I81, etc. from the operationdevice 2, the external server 8, etc. with use of the wirelesscommunication C12 and C18, etc. to obtain such external information.Thereafter, the information generator 17 generates the foregoing routeguidance information Ir1 on the basis of the obtained (received)external information (step S106).

Thereafter, the thus-generated route guidance information Ir1 istransmitted from the mobile body 1 to the operation device 2 with use ofthe wireless communication C12 (step S107).

Subsequently, for example, the display unit 212 in the operation device2 displays one or a plurality of route plans (two routes R1 and R2 inthis example) for an actual movement operation in the mobile body 1 onthe basis of the received route guidance information Ir1 (step S108), asillustrated in FIG. 7. It is to be noted that the route R1 in thisexample is a course from a start point Ps to an end point Pg1, and theroute R2 is a course from the start point Ps to an end point Pg2 (referto FIG. 7). Hence, the route guidance information Ir1 generated by theinformation generator 17 is provided to the user 9 through the wirelesscommunication C12. It is to be noted that in this example, the routes R1and R2 are displayed while being superimposed on map information Imap tobe described later. This makes the respective routes R1 and R2 to beeasily understood by the user 9 (this makes it possible to figure outthe respective routes R1 and R2 at first glance).

Subsequently, for example, a route (an actual movement route in themobile body 1) is determined (selected) by the user 9 with use of theuser interface unit 21 (the information input unit 211 and the displayunit 212) in the operation device 2 (step S109). Specifically, in a caseof the example illustrated in FIG. 7, the user 9 selects one route fromthe foregoing routes R1 and R2 to determine the actual route.Thereafter, each of route information as the external information I21and a movement instruction signal is transmitted from the operationdevice 2 to the mobile body 1 with use of the wireless communication C12(step S110). This route information means information indicating thedetermined route. Moreover, the movement instruction signal means asignal used to provide an instruction for movement to the movementmechanism 10 (the controller 18) of the mobile body 1.

Thereafter, the mobile body 1 that has received the route informationand the movement instruction signal starts its own movement operation onthe basis of these pieces of information (step S111). Specifically, themovement mechanism 10 starts a movement operation in accordance with thecontrol signal CTL supplied from the controller 18 to the movementmechanism 10. Accordingly, in the movement mechanism 10, the movementoperation of the mobile body 1 is performed on the basis of the routedetermined by the user 9. Thus, the operations illustrated in FIG. 4 arecompleted.

As described above, in the mobile body 1 according to the presentembodiment, the route guidance information Ir1 for use in moving themobile body 1 by the movement mechanism 10 is generated on the basis ofthe external information (such as the external information 121 and theexternal information 181) received from outside. This makes it possibleto easily create the route guidance information Ir1 in the mobile body1, as described later.

It is to be noted that in the operation example illustrated in FIG. 4,operations from selection of the move mode Mm (step 5103) to selectionof the actual route (step S109) are performed after the log-in operation(step S101); however, respective operations may be performed in anyother order without limiting to the foregoing order. Specifically, forexample, operations from selection of the move mode Mm (step 5103) toselection of the actual route (step S109) may be performed before thelog-in operation (step S101).

B-2. Case of Generation in Operation Device 2

FIG. 5 illustrates a flow chart of an operation example in the mobilebody 1 and the operation device 2 in time sequence in a case where theroute guidance information Ir2 is generated in the operation device 2(the information generator 27). It is to be noted that referencenumerals attached beside some of steps in FIG. 5 each indicate a block(refer to FIG. 3) that mainly performs a processing operation in thestep in the mobile body 1 or the operation device 2.

In this operation example, first, predetermined software is downloadedin each of the operation device 2 and the mobile body 1, and thereafter,the user 9 performs a predetermined log-in operation (step S201 in FIG.5) similarly to the foregoing step S101. This makes it possible toexecute a remote operation on the mobile body 1 with use of theoperation device 2.

Next, as a response to such a log-in operation, position information Ipat a present time of the mobile body 1 is transmitted from the mobilebody 1 to the operation device 2 with use of the wireless communicationC12 (step S202). It is to be noted that such position information Ip ofthe mobile body 1 may be stored in, for example, the external server 8on an as-needed basis, and the position information Ip may betransmitted from the external server 8 to the operation device 2 via themobile body 1.

Subsequently, for example, the user interface unit 21 (the informationinput unit 211 and the display unit 212) in the operation device 2 isused to set (select and determine) the foregoing move mode Mm by theuser 9 (step S203).

Next, the information generator 27 in the operation device 2 obtains theforegoing various kinds of information (for example, the externalinformation I12, the input information Ii, the held information Ih,etc.) (step S204), as described in detail later. Thereafter, theinformation generator 27 generates the foregoing route guidanceinformation Ir2 on the basis of the various kinds of informationobtained (step S205).

Subsequently, the display unit 212 in the operation device 2 displaysone or a plurality of route plans for an actual movement operation inthe mobile body 1 on the basis of the generated route guidanceinformation Ir2 (step S206) similarly to the foregoing step S108. Hence,the route guidance information Ir2 generated by the informationgenerator 27 is provided to the user 9.

Next, for example, a route is determined (selected) by the user 9 withuse of the user interface unit 21 (the information input unit 211 andthe display unit 212) in the operation device 2 (step S207) similarly tothe foregoing step S109. Thereafter, each of the foregoing routeinformation as the external information I21 and the foregoing movementinstruction signal is transmitted from the operation device 2 to themobile body 1 with use of the wireless communication C12 (step S208).

Thereafter, the mobile body 1 that has received the route informationand the movement instruction signal starts its own movement operation onthe basis of these pieces of information (S209). Specifically, themovement mechanism 10 starts the movement operation in accordance withthe control signal CTL supplied from the controller 18 to the movementmechanism 10. Accordingly, in the movement mechanism 10, the movementoperation of the mobile body 1 is performed on the basis of the routedetermined by the user 9. Thus, the operations illustrated in FIG. 5 arecompleted.

As described above, in the operation device 2 according to the presentembodiment, the route guidance information Ir2 for use in moving themobile body 1 by the movement mechanism 10 is generated on the basis ofone or more pieces of information out of the external information I21received from the mobile body 1, the input information Ii inputted fromthe user 9, and the held information Ih held in the storage unit 22.This makes it possible to easily create the route guidance informationIr2 in the operation device 2, as described later.

C. Specific Operation in Each Move Mode

Next, description is given of a specific operation of the mobile bodysystem 3 in each of move modes Mm with reference to FIGS. 8 to 15 inaddition to FIGS. 6 and 7 mentioned above.

C-1. About Correspondence Relationship between Move Modes Mm and VariousKinds of Information

First, description is given of a correspondence relationship examplebetween the move modes Mm (mode setting information Im) and variouskinds of information (tag information) with reference to FIG. 6. FIG. 6illustrates a summary of examples of correspondence relationshipsbetween kinds of the move modes Mm and various kinds of information tobe applied in a correspondence table. A section indicated by “∘” in FIG.6 means a section where any of these correspondence relationships ispresent.

First, as the move mode Mm, a plurality of kinds of modes (six kinds,i.e., the following “Mode 1” to “Mode 6” in this example as illustratedin FIG. 6) are provided. Note that, for example, other kinds of movemodes Mm to be described later may be provided in addition to (or inplace of) the six kinds.

“Mode 1” . . . Move mode Mm used in a case where, in place of the user9, the mobile body 1 strolls in any of various kinds of facilities (forexample, a museum, a zoo, an aquarium, etc.)

Examples of various kinds of information to be applied: It1 to It3, It5to It8, and It12

“Mode 2” . . . Move mode Mm used in a case where, in place of the user9, the mobile body 1 strolls during a trip to any of various regions(domestic or foreign regions)

Examples of various kinds of information to be applied: It1 to It8, andIt12

“Mode 3” . . . Move mode Mm used in a case where, in place of the user9, the mobile body 1 attends a business meeting

Examples of various kinds of information to be applied: It5, It7 toIt10, and It12

“Mode 4” . . . Move mode Mm used in a case where, in place of the user9, the mobile body 1 patrols in a building, etc. as a security guard

Examples of various kinds of information to be applied: It5, It7, It8,and It12

“Mode 5” . . . Move mode Mm used in a case where, in place of the user9, the mobile body 1 configured as a unmanned aerial vehicle (forexample, refer to FIG. 2C mentioned above) takes an aerial tour

Examples of various kinds of information to be applied: It1 to It7, andIt12

“Mode 6” . . . Move mode Mm used in a case where the mobile body 1monitors (follows) the user 9, etc. (the mobile body 1 serves as amonitoring robot)

Examples of Various Kinds of Information to be Applied: It3 to It5, It7,It8, It11, and It12

Moreover, in this example, as various kinds of information (taginformation), mainly the following twelve kinds of information (It1 toIt12) are used, as illustrated in FIG. 6. In other words, these variouskinds of information are used for generation of the route guidanceinformation Ir1 and Ir2 in accordance with the move mode Mm set by auser.

Information It1 regarding the GPS of the operation device 2 is positioninformation, etc. of the operation device 2 obtained with use of the GPSfunction in the operation device 2. It is to be noted that theinformation It1 regarding the GPS of the operation device 2 may includemovement history information (position information in time sequence) ofthe operation device 2.

The search history information It2 in the operation device 2 isinformation of a history of searches of various kinds of informationconducted by the user (search history information of the user 9 usingthe Internet) with use of the user interface unit 21 in the operationdevice 2. In other words, the search history information It2 may be alsoregarded as information (preference information) that reflectspreference, interests, etc. of the user 9.

Weather-related information It3 is information related to weather(information such as weather, temperature, humidity, an amount ofsunlight, an amount of ultraviolet radiation, various kinds ofadvisories and warnings related to weather). It is to be noted that, forexample, the weather-related information It3 of a region where themobile body 1 is present at the point in time may be automaticallyobtained by a combination of the weather-related information It3 and theforegoing position information Ip of the mobile body 1.

Wide area map information It4 (Imap) is information indicating a widearea map. Examples of the wide area map information It4 may includeinformation such as a road width, a gradient, a bending degree, and acongestion degree of each road (each route), information indicatingpresence or absence of a level difference in each route (informationregarding a level-difference route) as illustrated in, for example, FIG.7 mentioned above (reference numerals Pd1 and Pd2), and the like.

Remaining electric power information It5 of the mobile body 1 isinformation indicating a remaining amount of electric power Pb stored inthe battery 16 of the mobile body 1, and, for example, an indication ofthe remaining amount of the electric power Pb is expressed in percentage(%), as described later in FIG. 15.

Evaluation information It6 by other users is information indicatingvarious kinds of evaluation contents by other users, and is obtainedfrom, for example, a previously informed inquiry destination, etc. via acloud platform (such as the external server 8). Specifically, in a caseof the foregoing “Mode 1”, for example, the evaluation information It6may include evaluation on actually used movement routes in various kindsof facilities (such as a museum) by other users (such as whether themovement routes are satisfactory). In such a case, it is possible to use(reflect) the evaluation information It6 for generation of routesuggestion information in a case where another user who subsequentlylogs in uses the mobile body system 3.

Time information It7 is information indicating a time at the point (apresent time). It is to be noted that, for example, in a case where themobile body 1 is abroad (in a foreign country), the time information It7in a region where the mobile body 1 is present at the point in time maybe automatically obtained by a combination of the time information It7and the foregoing position information Ip of the mobile body 1.Moreover, various kinds of time information regarding a location of themobile body 1 (for example, time information regarding various kinds offacilities) may be also obtained.

In-building map information It8 (Imap) is information indicating a mapinside any of various kinds of buildings such as various kinds offacilities mentioned above, offices, buildings to be guarded in theforegoing “Mode 4”, and the like. Examples of the in-building mapinformation It8 may include information such as a road width, agradient, a bending degree, and a congestion degree, and presence orabsence of a level difference in each route.

Schedule information It9 of the user 9 is information indicating aschedule (for example, a hourly task schedule in one day, etc.) of theuser 9 (for example, refer to FIG. 11 to be described later).

Movement history information It10 of the mobile body 1 is informationindicating a movement history of the mobile body 1, and is obtained withuse of the GPS function in the mobile body 1.

Action history information It11 of the user 9 is information indicatingan action history of the user 9, and is obtained with use of, forexample, the captured image data Di obtained in the mobile body 1, theGPS function in the mobile body 1, etc., as described in detail later.It is to be noted that the action history information It11 of the user 9may be regarded as information indicating an action tendency of the user9 (predicting future action).

Wireless communication area information It12 is information indicating arange (region) of an area (a wireless communication area 93 to bedescribed later) where the wireless communications C12 and C18, etc.used in the mobile body 1 are executable. It is to be noted that thewireless communication area information It12 in a region where themobile body 1 is located at the point in time (a peripheral region ofthe position of the mobile body 1) may be automatically obtained by acombination of the wireless communication area information It12 and theforegoing position information Ip of the mobile body 1.

Herein, examples of the foregoing external information 121 (or theexternal information I81) include the following information out of thesevarious kinds of information (It1 to It12). The examples include theinformation It1 regarding the GPS of the operation device 2, the searchhistory information It2, the weather-related information It3, the widearea map information It4, the evaluation information It6 by the otherusers, the time information It7, the in-building map information It8,the schedule information It9, the wireless communication areainformation It12, etc. In other words, each of these kinds ofinformation corresponds to a specific example of “external information”in the present disclosure. Moreover, the information It1 regarding theGPS of the operation device 2, the search history information It2, andthe schedule information It9 out of these kinds of “externalinformation” correspond to specific examples of “inherent information(held in an operation device)” in the present disclosure. It is to benoted that these kinds of “external information” are obtained in, forexample, the mobile body 1, and thereafter are held in the storage unit12 in the mobile body 1.

Moreover, examples of the foregoing input information Ii in theoperation device 2 include the search history information It2 and theforegoing mode setting information Im. In other words, each of thesekinds of information corresponds to a specific example of “inputinformation” in the present disclosure. Examples of the foregoing heldinformation Ih in the operation device 2 include the information It1regarding the GPS of the operation device 2, the search historyinformation It2, and the schedule information It9. In other words, eachof these kinds of information corresponds to a specific example of “heldinformation” in the present disclosure. Examples of the foregoingexternal information I12 (received information in operation device 2)include the remaining electric power information It5 of the mobile body1, the movement history information It10 of the mobile body 1, theaction history information It11 of the user 9, and the foregoingposition information Ip of the mobile body 1. In other words, each ofthese kinds of information corresponds to a specific example of“received information” in the present disclosure. It is to be noted thateach of the input information Ii, the held information Ih, and theexternal information I12 is obtained in the operation device 2, andthereafter is held in the storage unit 22 in the operation device 2.

C-2. Details of Each Move Mode Mm

Next, description is given of details of each of the move modes Mm(“Mode 1” to “Mode 6”) on the basis of such a correspondencerelationship example between the move modes Mm and various kinds ofinformation with reference to FIGS. 6 to 15.

Operation in “Mode 1”

This “Mode 1” is the move mode Mm used in a case where, in place of theuser 9, the mobile body 1 strolls in any of various kinds of facilities.

Specifically, for example, the route guidance information Ir1 or Ir2 isgenerated in the following manner in consideration of, for example, acase where a certain user 9 performs a log-in operation on the mobilebody 1 mounted in an aquarium with use of the operation device 2 throughthe wireless communication C12. It is to be noted that in this case, forexample, the user 9 receives a log-in ID (identification) and a passwordof the mobile body 1 mounted in the aquarium by e-mail, etc. on thebasis of information of member registration previously conducted by theuser 9.

In this case, the user 9 first selects and determines the “Mode 1” froma plurality of kinds of move modes Mm with use of the operation device 2as described above with reference to FIGS. 4 and 5. It is to be notedthat the “Mode 1” may be automatically selected with use of the positioninformation Ip (such as being present in the aquarium) of the mobilebody 1, etc.

Thereafter, the information generator 17 in the mobile body 1 or theinformation generator 27 in the operation device 2 generates the routeguidance information Ir1 or the route guidance information Ir2 on thebasis of the foregoing examples of various kinds of information (It1 toIt3, Its to It8, and It12) applied to the “Mode 1”. In other words, inthe “Mode 1”, the route guidance information Ir1 or Ir2 is automaticallygenerated with use of, for example, the following tag information.

Information It1 regarding the GPS of the operation device 2

Search history information It2 in the operation device 2

Weather-related information It3

Remaining electric power information It5 of the mobile body 1

Evaluation information It6 by other users

Time information It7

In-building map information It8

Wireless communication area information It12

Specifically, the route guidance information Ir1 or Ir2 is automaticallygenerated in consideration of, for example, preference information ofthe user 9 obtained by the search history information It2, informationregarding weather, temperature, etc. in a region around the aquariumobtained by the weather-related information It3, magnitude of theelectric power Pb obtained by the remaining electric power informationIt5, evaluation by other users on respective spots in the aquariumobtained by the evaluation information It6, a closing time of theaquarium, a starting time of each event in the aquarium, etc. obtainedon the basis of the time information It7, and the like.

Thereafter, for example, the display unit 212 of the operation device 2displays route plans (two routes R1 and R2 in this example) on the basisof the generated route guidance information Ir1 or Ir2, and thein-building map information It8 (map information Imap in the aquarium inthis example), as illustrated in FIG. 7. Thereafter, the user 9 selectsand determines one plan from the route plans with use of the operationdevice 2, as described above in FIGS. 4 and 5. Thus, a movementoperation of the mobile body 1 starts in accordance with the determinedroute (movement route).

Herein, upon generation of the foregoing route guidance information Ir1or Ir2, the information generator 17 or the information generator 27desirably generates the route guidance information Ir1 or IR2 withconsideration also given to the following points.

Specifically, for example, in a case where the mobile body 1 includesmovement mechanisms 10, 10A, 10B, etc. including a wheel mechanism(refer to FIGS. 1 and 2A) and a walking mechanism (refer to FIG. 2B),the information generator 17 or 27 desirably generates the routeguidance information Ir1 or Ir2 while avoiding a route having a leveldifference (a level difference route). Specifically, in an exampleillustrated in FIG. 7, the route R2 that is one of the routes R1 and R2is generated with use of the in-building map information It8 (Imap) soas to avoid, for example, level difference regions indicated byreference numerals Pd1 and Pd2. Moreover, the information generators 17or 27 desirably generates the route guidance information Ir1 or IR2 withconsideration also given to gradient magnitude, a road width, etc. ineach route. The reason for this is that in a case of the mobile body 1including any of such movement mechanisms 10, 10A, 10B, etc., alsoconsidering these kinds of information makes it possible to furtherimprove convenience of the user 9, unlike a case of the mobile body 1including the movement mechanism 10C (refer to FIG. 2C) including aflying mechanism. In other words, this makes an actual movementoperation of the mobile body 1 smooth, and prevents a malfunction causedby a fall, etc. of the mobile body 1.

Moreover, for example, in a case where the solar cell 160 is used as apower source of the mobile body 1 as illustrated in FIG. 8 (refer toFIG. 3), the controller 18 in the mobile body 1 desirably controls anoperation of the movement mechanism 10 as follows. That is, thecontroller 18 controls the movement mechanism 10 with use of theposition information Ip of the mobile body 1, the weather-relatedinformation It3, the time information It7, etc. mentioned above so as tocause the mobile body 1 to preferentially perform a movement operationoutdoors (outside a building 91) during daylight hours when sunlightfrom the sun 92 is obtained. In such a case, it is possible toefficiently store electric power with use of the solar cell 160 in themovement operation during daylight hours, thereby suppressing shortageof the remaining amount of the electric power Pb in the mobile body 1.

Further, as illustrated in FIG. 9, for example, in a case where theforegoing position detector 141 detects that the mobile body 1 is notlocated in the wireless communication area 93 (has moved outside of thewireless communication area 93) (refer to an arrow M1 in FIG. 9), thecontroller 18 desirably controls the operation of the movement mechanism10 as follows. That is, the controller 18 controls the movementmechanism 10 so as to cause the mobile body 1 to move to inside of thewireless communication area 93. Specifically, for example, in a casewhere the movement mechanism 10 is of a backwardly runnable (backwardlymoveable) type, for example, the movement mechanism 10 is controlled soas to cause the mobile body 1 to start moving backward into the wirelesscommunication area 93, as indicated by an arrow M11 in FIG. 9. Moreover,for example, in a case where the movement mechanism 10 is of a type inwhich such backward movement is not possible, for example, the movementmechanism 10 is controlled so as to cause the mobile body 1 to startU-turn movement into the wireless communication area 93, as indicated byan arrow M12 in FIG. 9. In such cases, it is possible for the mobilebody 1 itself to automatically avoid a situation that the wirelesscommunications C12, C18, etc. with the mobile body 1 are not executableto make the mobile body 1 inoperable, which makes it possible to furtherimprove convenience of the user 9.

It is to be noted that in a case where after that, the mobile body 1returns to inside of the wireless communication area 93, for example,the route guidance information Ir1 or Ir2 may be automaticallyregenerated to be provided to the user 9 again. Moreover, in a casewhere the mobile body 1 is about to move to outside of the wirelesscommunication area 93, the controller 18 may control the movementmechanism 10 so as to cause the mobile body 1 to automatically stop itsmovement and so as to provide notification of such movement stop to theoperation device 2 (the user 9). In such a case, it is possible toprevent the mobile body 1 from moving to outside of the wirelesscommunication area 93.

As described above, in this “Mode 1”, only performing an operation (anoperation of determining the move mode Mm and the movement route) on theoperation device 2 in hand makes it possible for the user 9 to virtuallystroll in any of various facilities with use of the mobile body 1 whilestaying at his residence 90 as illustrated in FIG. 1. In other words,the user 9 does not need time, transportation fees, etc. that arenecessary to actually travel to various facilities, and does not need toactually walk around in various facilities, which makes it possible toenjoy strolling as if actually being in the facilities without effort,fatigue, trouble, etc. It is to be noted that in a case where the mobilebody 1 moves in any of such various facilities, data of audioinformation regarding respective spots and respective events may betransmitted to the operation device 2 through, for example, the wirelesscommunications C18 and C12, etc., and may be outputted to the user withuse of a speaker, etc., in the operation device 2. This enhances realismas if the user 9 is actually being in the facilities, which makes itpossible to further improve convenience.

Operation in “Mode 2”

This “Mode 2” is the move mode Mm used in a case where, in place of theuser 9, the mobile body 1 strolls during a trip to any of variousregions (domestic or foreign regions).

Specifically, for example, the route guidance information Ir2 or Ir2 isgenerated in the following manner in consideration of, for example, acase where a certain user 9 performs a log-in operation on the mobilebody 1 mounted in a given region (domestic or foreign tourist spot) withuse of the operation device 2 through the wireless communication C12. Itis to be noted that, for example, the log-in operation herein isavailable on a membership registration basis or a chargeable basis.

Even in this case, the user 9 first selects and determines the “Mode 2”from a plurality of kinds of move modes Mm with use of the operationdevice 2, as described above in FIGS. 4 and 5. It is to be noted thatthe “Mode 2” may be automatically selected with use of the positioninformation Ip of the mobile body 1, etc.

Thereafter, the information generator 17 in the mobile body 1 or theinformation generator 27 in the operation device 2 generates the routeguidance information Ir1 or the route guidance information Ir2 on thebasis of the foregoing examples of various kinds of information (It1 toIt8, and It12) applied to the “Mode 2”. In other words, in the “Mode 2”,the route guidance information Ir1 or Ir2 is automatically generatedwith use of, for example, the following tag information.

Information It1 regarding the GPS of the operation device 2

Search history information It2 in the operation device 2

Weather-related information It3

wide area map information It4

Remaining electric power information It5 of the mobile body 1

Evaluation information It6 by other users

Time information It7

In-building map information It8

Wireless communication area information It12

Specifically, the route guidance information Ir1 or Ir2 is automaticallygenerated in consideration of, for example, preference information ofthe user 9 obtained by the search history information It2, informationregarding weather, temperature, etc. in a corresponding region obtainedby the weather-related information It3, magnitude of the electric powerPb obtained by the remaining electric power information It5, evaluationby other users on respective spots in the region obtained by theevaluation information It6, a closing time of each of the spots, astarting time of each event in the region etc. obtained on the basis ofthe time information It7, and the like. Moreover, in this “Mode 2”,information about whether the user 9 himself has actually been to aspecific region obtained by the information It1 regarding the GPS of theoperation device 2, the search history information It2, etc. isreference information useful to automatically generate the routeguidance information Ir1 or Ir2.

It is to be noted that, thereafter, the display unit 212 of theoperation device 2 displays route plans on the basis of the generatedroute guidance information Ir1 or Ir2, and the wide area map informationIt4 or the in-building map information It8 in a manner similar to theforegoing case of the “Mode 1”. Thereafter, the user 9 selects anddetermines one plan from the route plans with use of the operationdevice 2, as described above in FIGS. 4 and 5. Thus, a movementoperation of the mobile body 1 starts in accordance with the determinedroute (movement route).

Herein, for example, in this “Mode 2”, using a head mount display 4 incombination makes it possible for the user 9 to enjoy a virtual tripwith enhanced realism, as illustrated in FIG. 10. The head mount display4 includes a display unit 41 having a shape corresponding to a portionof right and left eyes of the user 9 and an ear-mounted portion having ashape corresponding to a portion of right and left ears of the user 9.Further, for example, it is possible to view, on the display unit 41,captured images in various regions obtained by the mobile body 1 on thebasis of the captured image data Di transmitted from the mobile body 1to the head mount display 4, and the like via the operation device 2, asillustrated in FIG. 10. In this case, in terms of enhancement ofrealism, the captured images are desirably three-dimensional images (3Dimages). Moreover, stereo audio data, etc. obtained by the microphone111 of the mobile body 1 may be supplied to a speaker, etc. of the headmount display 4 via the operation device 2. It is to be noted that theuser 9 may use a fee payment function (such as a payment function usingvarious kinds of electronic money) to pay a fee for such a virtual tripexperiment service using the head mount display 4. However, inconsideration of a possibility of theft of the mobile body 1 itself, itis desirable to make fee payment using such electronic money in thefollowing manner. That is, for example, it may be said that the user 9desirably enters an identification number on the operation device 2 inadvance or a process of verifying the user 9 is desirably performed withuse of card authentication, biometric authentication, etc.

As described above, in this “Mode 2”, only performing an operation (anoperation of determining the move mode Mm and the movement route) on theoperation device 2 in hand makes it possible for the user 9 to virtuallystroll (travel) in any of various domestic or foreign tourist spots withuse of the mobile body 1 while staying at his residence 90. In otherwords, the user 9 does not need time, transportation fees, etc.necessary to actually go to any of various tourist spots, and does notneed to actually walk around in various tourist spots, which makes itpossible to enjoy sightseeing as if actually being in the tourist siteswithout effort, fatigue, trouble, etc.

Operation in “Mode 3”

This “Mode 3” is the move mode Mm used in a case where, in place of theuser 9, the mobile body 1 attends a business meeting, a described above.

Specifically, for example, a case where the user 9 located in a remotesite (for example, a branch office, a business office, etc. separated bya distance or the residence 90 of the user 9, etc.) performs a log-inoperation on the mobile body 1 mounted in a company (for example, aheadquarter, etc.) where the user 9 works for with use of the operationdevice 2 through the wireless communication C12 is considered. In thiscase, for example, the route guidance information Ir1 or Ir2 isgenerated in the following manner It is to be noted that, for example,the log-in operation herein is available on a membership registrationbasis or a chargeable basis.

Even in this case, the user 9 first selects and determines the “Mode 3”from a plurality of kinds of move modes Mm with use of the operationdevice 2, as described above in FIGS. 4 and 5. It is to be noted thatthe “Mode 3” may be automatically selected with use of the positioninformation Ip of the mobile body 1, etc.

Thereafter, the information generator 17 in the mobile body 1 or theinformation generator 27 in the operation device 2 generates the routeguidance information Ir1 or the route guidance information Ir2 on thebasis of the foregoing examples of various kinds of information (It5,It7 to It10, and It12) applied to the “Mode 3”. In other words, in the“Mode 3”, the route guidance information Ir1 or Ir2 is automaticallygenerated with use of, for example, the following tag information.

Remaining electric power information It5 of the mobile body 1

Time information It7

In-building map information It8

Schedule information It9 of the user 9 (for example, refer to FIG. 11)

Movement history information It10 of the mobile body 1

Wireless communication area information It12

Specifically, the route guidance information Ir1 or Ir2 is automaticallygenerated in consideration of, for example, magnitude of electric powerPb obtained by the remaining electric power information It5, informationregarding a present time obtained by the time information It7, abusiness schedule for the day of the user 9 (for example, time and placeof a meeting to be attended, etc.) obtained by the schedule informationIt9, and the like. In other words, the controller 18 in the mobile body1 controls the movement mechanism 10 so as to cause the mobile body 1 toautomatically move in accordance with, for example, the preset scheduleinformation It9 of the user 9.

Moreover, in this “Mode 3”, information about a place of a meeting roomto which the mobile body 1 has been in the past obtained by the movementhistory information It10 of the mobile body 1 is reference informationthat is useful to automatically generate the route guidance informationIr1 or Ir2. The reason for this is that in general, a place (such as ameeting room) where a meeting is held in a company is limited to someextent, and there is a tendency that the place is set whilecorresponding to a business schedule, etc.

It is to be noted that, thereafter, the display unit 212 of theoperation device 2 displays route plans on the basis of the generatedroute guidance information Ir1 or Ir2, and the in-building mapinformation It8 in a manner similar to the foregoing case of the “Mode1”. Thereafter, the user 9 selects and determines one plan from theroute plans with use of the operation device 2, as described above inFIGS. 4 and 5. Thus, a movement operation of the mobile body 1 starts inaccordance with the determined route (movement route).

As described above, in this “Mode 3”, only performing an operation (anoperation of determining the move mode Mm and the movement route) on theoperation device 2 in hand makes it possible for the user 9 to virtuallyattend a business meeting with use of the mobile body 1 while staying ata remote site (for example, a branch office, a business office, etc. orhis residence 90, etc.). In other words, it is possible for the user 9to conduct a business operation in the meeting without needing time,transportation fees, etc. necessary to actually go to a meeting room.

Moreover, the route guidance information Ir1 or Ir2 is automaticallygenerated with use of, for example, useful information such as theschedule information It9 of the user 9, and the movement historyinformation It10 of the mobile body 1, which achieves the followingeffect, for example. That is, for example, it is possible to easilyobtain suitable route guidance information Ir1 or Ir2 without selectingwhether or not to use complicated tag information, etc., therebysignificantly improving convenience of the user 9.

Operation in “Mode 4”

This “Mode 4” is the move mode Mm used in a case where, in place of theuser 9, the mobile body 1 patrols in a building, etc. as a securityguard. In other words, in the “Mode 4”, the mobile body 1 serves as asecurity guard robot.

Specifically, for example, a case where the user 9 located in a remotesite (for example, in a security company or a security guard room wherethe user 9 works, or the residence 90 of the user 9, etc.) performs alog-in operation on the mobile body 1 mounted in a building to beguarded with use of the operation device 2 through the wirelesscommunication C12 is considered. In this case, for example, the routeguidance information Ir2 or Ir2 is generated in the following manner. Itis to be noted that, for example, the log-in operation herein isavailable on a membership registration basis or a chargeable basis.

Even in this case, as described above in FIGS. 4 and 5, the user 9 firstselects and determines the “Mode 4” from a plurality of kinds of movemodes with use of the operation device 2. It is to be noted that the“Mode 4” may be automatically selected with use of the positioninformation Ip of the mobile body 1, etc.

Thereafter, the information generator 17 in the mobile body 1 or theinformation generator 27 in the operation device 2 generates the routeguidance information Ir1 or the route guidance information Ir2 on thebasis of the foregoing examples of various kinds of information (It5,It7, It8, and It12) applied to the “Mode 4”. In other words, in the“Mode 4”, the route guidance information Ir1 or Ir2 is automaticallygenerated with use of, for example, the following tag information.

Remaining electric power information It5 of the mobile body 1

Time information It7

In-building map information It8

Wireless communication area information It12

Specifically, the route guidance information Ir1 or Ir2 is automaticallygenerated in consideration of, for example, magnitude of the electricpower Pb obtained by the remaining electric power information It5,information regarding a present time obtained by the time informationIt7, and the like.

It is to be noted that, thereafter, the display unit 212 of theoperation device 2 displays route plans on the basis of the generatedroute guidance information Ir1 or Ir2, and the in-building mapinformation It8 in a manner similar to the foregoing case of the “Mode1”. Thereafter, the user 9 selects and determines one plan from theroute plans with use of the operation device 2, as described above inFIGS. 4 and 5. Thus, a movement operation of the mobile body 1 starts inaccordance with the determined route (movement route).

On this occasion, for example, as illustrated in FIG. 12, the foregoinganomaly detector 142 in the mobile body 1 may detect an anomaly(presence or absence of an anomaly state) in a building under securityin the following manner, for example. In other words, the anomalydetector 142 may compare a same point between captured image data Di(n)at the point in time (a present time) obtained by the imaging unit 113and captured image data Di(p) at a past time obtained by the imagingunit 113 to detect such an anomaly. In other words, for example, in thisexample in FIG. 12, as indicated by Da, an object that is not present inthe captured image data Di(p) at the past time exists in the capturedimage data Di(n) at the present time, which causes the anomaly detector142 to detect (determine) that the anomaly state occurs. It is to benoted that such a detection result is informed to the user 9, etc. withuse of the external information 112, etc. transmitted through thewireless communication C12.

As described above, in this “Mode 4”, only performing an operation (anoperation of determining the move mode Mm and the movement route) on theoperation device in hand makes it possible for the user 9 to patrol(keep guard) in a building to be guarded with use of the mobile body 1while staying at a remote site (for example, in a security company or asecurity guard room, or the residence 90, etc.). In other words, theuser 9 does not need time, transportation fees, etc. necessary toactually go to the building to be guarded, or does not need to actuallywalk around in the building, which makes it possible for the user 9 toconduct a patrolling operation as if actually being in the site withouteffort, fatigue, trouble, etc.

Operation in “Mode 5”

This “Mode 5” is the move mode Mm used in a case where, in place of theuser 9, the mobile body 1 configured as a unmanned aerial vehicle (forexample, refer to FIG. 2C mentioned above) takes an aerial tour. Inother words, this “Mode 5” corresponds to an application in which themobile body 1 as a unmanned aerial vehicle strolls in air in any ofvarious kinds of facilities or during a trip in the “Mode 1” and the“Mode 2” mentioned above.

Specifically, for example, the route guidance information Ir1 or IR2 isgenerated in the following manner in consideration of, for example, acase where a certain user 9 performs a log-in operation on the mobilebody 1 mounted in any of the various kinds of facilities and variouskinds of regions mentioned above with use of the operation device 2through the wireless communication C12. It is to be noted that, forexample, the log-in operation herein is available on a membershipregistration basis or a chargeable basis.

Even in this case, the user 9 first selects and determines the “Mode 5”from a plurality of kinds of move modes Mm with use of the operationdevice 2, as described above in FIGS. 4 and 5. It is to be noted thatthe “Mode 5” may be automatically selected with use of the positioninformation Ip of the mobile body 1, etc.

Thereafter, the information generator 17 in the mobile body 1 or theinformation generator 27 in the operation device 2 generates the routeguidance information Ir1 or the route guidance information Ir2 on thebasis of the foregoing examples of various kinds of information (It1 toIt7, and It12) applied to the “Mode 5”. In other words, in the “Mode 5”,the route guidance information Ir1 or Ir2 is automatically generatedwith use of, for example, the following tag information.

Information It1 regarding the GPS of the operation device 2

Search history information It2 in the operation device 2

Weather-related information It3

wide area map information It4

Remaining electric power information It5 of the mobile body 1

Evaluation information It6 by other users

Time information It7

Wireless communication area information It12

Specifically, the route guidance information Ir1 or Ir2 is automaticallygenerated in consideration of, for example, preference information ofthe user 9 obtained by the search history information It2, informationregarding weather, temperature, etc. in a corresponding region obtainedby the weather-related information It3, magnitude of the electric powerPb obtained by the remaining electric power information It5, evaluationby other users obtained by the evaluation information It6, various kindsof times obtained on the basis of the time information It7, and thelike. Moreover, even in this “Mode 5”, information about whether theuser 9 himself has actually been to a specific facility or regionobtained by the information It1 regarding the GPS of the operationdevice 2, the search history information It2, etc. is referenceinformation useful to automatically generate the route guidanceinformation Ir1 or Ir2.

It is to be noted that, thereafter, the display unit 212 of theoperation device 2 displays route plans on the basis of the generatedroute guidance information Ir1 or Ir2, and the wide area map informationIt4 in a manner similar to the foregoing case of the “Mode 1”.Thereafter, the user 9 selects and determines one plan from the routeplans with use of the operation device 2, as described above in FIGS. 4and 5. Thus, a movement operation of the mobile body 1 starts inaccordance with the determined route (movement route).

It is to be noted that even in this “Mode 5”, the user 9 may use thehead mount display 4 in combination in a similar manner to the case ofthe foregoing “Mode 2” (refer to FIG. 10).

As described above, in this “Mode 5”, only performing an operation (anoperation of determining the move mode Mm and the movement route) on theoperation device 2 in hand makes it possible for the user 9 to virtuallytake an aerial tour in any of various kinds of facilities and variouskinds of regions with use of the mobile body 1 while staying at hisresidence 90. In other words, the user 9 does not need time,transportation fees, etc. necessary to actually go to any of variousfacilities and various regions, and does not need to actually walkaround in any of various facilities and various regions, which makes itpossible to enjoy an aerial tour as if actually being in the sitewithout effort, fatigue, trouble, etc. Moreover, for example, flying themobile body 1 as the unmanned aerial vehicle during a work break allowsthe user 9 to make virtual experience as if the user 9 himself flies inthe sky, which makes it possible for the user 9 to make a refreshingchange.

Operation in “Mode 6”

This “Mode 6” is the move mode Mm used in a case where the mobile body 1monitors (follows) the user 9, etc. In other words, in this “Mode 6”,the mobile body 1 serves as an monitoring robot. It is to be noted thatexamples of a target to be monitored in this case include the user 9himself, a family or a roommate of the user 9, etc., and specificexamples thereof include an elderly person, a child, etc. A case wherethe target to be monitored is the user 9 himself is described below asan example.

Specifically, for example, a case where the user 9 performs a log-inoperation on the mobile body 1 mounted in a building where a person tobe monitored lives with use of the operation device 2 through thewireless communication C12 is considered. In this case, for example, theroute guidance information Ir2 or Ir2 is generated in the followingmanner. It is to be noted that, for example, the log-in operation hereinis available on a membership registration basis or a chargeable basis.

Even in this case, the user 9 first selects and determines the “Mode 6”from a plurality of kinds of move modes with use of the operation device2, as described above in FIGS. 4 and 5. It is to be noted that the “Mode6” may be automatically selected with use of the position information Ipof the mobile body 1, etc.

Thereafter, the information generator 17 in the mobile body 1 or theinformation generator 27 in the operation device 2 generates the routeguidance information Ir1 or the route guidance information Ir2 on thebasis of the foregoing examples of various kinds of information (It3 toIt5, It7, It8, It11, and It12) applied to the “Mode 6”. In other words,in the “Mode 6”, the route guidance information Ir1 or Ir2 isautomatically generated with use of, for example, the following taginformation.

Weather-related information It3

Wide area map information It4

Remaining electric power information It5 of the mobile body 1

Time information It7

In-building map information It8

Action history information It11 of the user 9

Wireless communication area information It12

Specifically, the route guidance information Ir1 or Ir2 is automaticallygenerated in consideration of, for example, information regardingweather, temperature, etc. in a corresponding region obtained by theweather-related information It3, magnitude of the electric power Pbobtained by the remaining electric power information It5, various kindsof times obtained on the basis of the time information It7, and thelike.

Moreover, in this “Mode 6”, action information regarding the user 9obtained by the action history information of the user 9 is referenceinformation useful to automatically generate the route guidanceinformation Ir1 or Ir2.

Specifically, for example, as illustrated in FIG. 13, it is desirablefor the information generators 17 or 27 to generate the route guidanceinformation Ir1 or Ir2 with consideration also given to the actionhistory information It11 regarding the user 9 obtained during a standbystate of the mobile body 1 (while a movement operation is not executed).In other words, in this example, monitoring the action of the user 9(refer to a route R3 in FIG. 13) in, for example, a building or aspecific room by the imaging unit 113 of the mobile body 1 in thestandby state allows the mobile body 1 to learn the action informationregarding the user 9 and make action prediction. In such a case, it ispossible to obtain reference information useful to automaticallygenerate the route guidance information Ir1 or Ir2 while effectivelyusing the standby state of the mobile body 1.

It is to be noted that, thereafter, the display unit 212 of theoperation device 2 displays route plans on the basis of the generatedroute guidance information Ir1 or Ir2, and the wide area map informationIt4 or the in-building map information It8 in a manner similar to theforegoing case of the “Mode 1”. Thereafter, the user 9 selects anddetermines one plan from the route plans with use of the operationdevice 2, as described above in FIGS. 4 and 5. Thus, a movementoperation of the mobile body 1 starts in accordance with the determinedroute (movement route).

As described above, in this “Mode 6”, only performing an operation (anoperation of determining the move mode Mm and the movement route) on theoperation device 2 in hand makes it possible to monitor the user 9himself with use of the mobile body 1.

Operation in Other Move Mode Mm

It is to be noted that the following operation may be performed in themobile body system 3 in move modes Mm other than these “Mode 1” to “Mode6”.

That is, first, for example, the information generator 17 or theinformation generator 27 may automatically generate, in the followingmanner, the route guidance information Ir1 or Ir2 used in a case wherethe mobile body 1 automatically moves along a street in a city (refer toan arrow M1 in FIG. 14) , as illustrated in FIG. 14. In other words, theinformation generators 17 or 27 may generate the route guidanceinformation Ir1 or Ir2 with use of, for example, the capture image dataDi obtained by the imaging unit 113 of the mobile body 1, the positioninformation Ip of the mobile body 1, and the map information Imap (It4)together with the various kinds of information (tag information)mentioned above. In such a case, it is possible to automaticallygenerate map data generated by images taken in the city with use of themobile body 1 in place of the user 9, thereby improving convenience ofthe user 9.

Herein, as illustrated in FIG. 14, for example, the following may beperformed in a case where the captured image data Di, the positioninformation Ip, and the map information Imap are stored together withthe data update time information Idr regarding the captured image dataDi in the external server 8, etc., while corresponding to the dataupdate time information Idr. That is, the information generators 17 or27 may automatically generate the route guidance information Ir1 or Ir2with use of the data update time information Idr on a regular basis soas to automatically update the captured image data Di on a regularbasis. For example, in the example in FIG. 14, a predetermined updateperiod (for example, about several years) has expired with reference tothe data update time information Idr in the captured image data Di(p)obtained in a past time at a certain point Pdr in a city; therefore, thefollowing occurs. That is, the information generators 17 or 27 generatesthe route guidance information Ir1 or Ir2 in consideration also given tosuch information to obtain route plans via the point Pdr. Thereafter,the controller 18 of the mobile body 1 controls the imaging unit 113 inaddition to the movement mechanism 10 so as to obtain the captured imagedata Di(n) at a present time at the point Pdr and automatically updatedata. In such a case, it is possible to automatically update map datagenerated by images taken in the city at a regular basis with use of themobile body 1 in place of the user 9, which makes it possible to furtherimprove convenience of the user 9.

Moreover, for example, the user interface unit 21 (the display unit 212)in the operation device 2 may output (supply) the following informationto the user 9, as illustrated in FIG. 15. In other words, the displayunit 212 may output respective pieces of position information Ip of aplurality of mobile bodies 1 (three mobile bodies 1, 1 a, and 1 b inthis example) to the user 9 on the basis of information received fromoutside (the external information I21 from each of mobile bodies 1, orthe external information I81 from the external server 8, etc.) It is tobe noted that in this example, the display unit 212 displays, inaddition to the position information Ip of the mobile body 1 as a targetto be used (a target to be operated) by a certain user 9, the positioninformation Ip of each of the other mobile bodies 1 a and 1 b located ina region around the mobile body 1 at the point in time together with theremaining electric power information It5 (remaining electric powerexpressed in percentage) of each of the mobile bodies 1, 1 a, and 1 b.In such a case, for example, in a case where various kinds of exchangeare performed with other mobile bodies, or the like as with amodification example 1, etc. to be described later, useful informationfor the user 9 is obtained in an obviously easily understandable manner,thereby improving convenience of the user 9. It is to be noted that therespective foregoing mobile bodies 1 a and 1 b correspond to a specificexample of “other mobile bodies” in the present disclosure.

Herein, for example, the information generator 17 or the informationgenerator 27 may generate the route guidance information Ir1 or Ir2 usedfor movement to allow the mobile bodies 1, 1 a, and 1 b to come closerto one another by a shortest route with use of the position informationIp of each of the plurality of mobile bodies 1, 1 a, and 1 b, asindicated by an arrow in FIG. 15. In this example, the informationgenerator 17 or 27 automatically generates the route guidanceinformation Ir1 or Ir2 used for movement to allow the mobile body 1 toapproach the mobile body 1 b located near the mobile body 1 by ashortest route R4. It is to be noted that on this occasion, theinformation generator 17 or 27 may generate the route guidanceinformation Ir1 or Ir2 by the shortest route R4 in consideration alsogiven to the remaining electric power information It5 of each of theforegoing mobile bodies 1, 1 a, and 1 b. In these cases, it is possibleto further improve convenience of the user 9 in a case where variouskinds of exchange with other mobile bodies are performed, or the like,as described above.

It is to be noted that, in addition to these operations, for example,the following operation may be performed in the mobile body system 3.

An area that is reachable by the mobile body 1 with the remainingelectric power Pb is displayed on a map.

An area where contactless electric power feeding is executable in themobile body 1 is displayed on a map.

Information regarding a congestion state (a degree of congestion) in aroute plan, etc. obtained by the route guidance information Ir1 or Ir2is obtained from the external server 8, etc. and displayed on a map.

In the mobile body 1 according to the present embodiment, theinformation generator 17 generates the route guidance information Ir1 onthe basis of the external information I21 and I81 received from outside,which makes it possible to easily create the route guidance informationIr1 in the mobile body 1. This makes it possible to improve convenienceof the user 9.

Moreover, in the operation device 2 according to the present embodiment,the information generator 27 generates the route guidance informationIr2 on the basis of one or more pieces of information out of theexternal information I21 received from the mobile body 1, the inputinformation Ii inputted by the user 9, and the held information Ih heldin the storage unit 22, which makes it possible to easily create theroute guidance information Ir2 in the operation device 2. This makes itpossible to improve convenience of the user 9.

Further, these information generators 17 and 27 respectively generatethe route guidance information Ir1 and Ir2 with use of a correspondencerelationship between the mode setting information Im indicating the movemode Mm and various kinds of information (tag information) correspondingto each of the plurality of kinds of move modes Mm (for example, referto FIG. 6), which makes it possible to achieve the following effect.That is, although reference information used for generation of the routeguidance information Ir1 and Ir2 depends on intended use application ofthe mobile body 1, it is possible to automatically generate the routeguidance information Ir1 and Ir2 suitable for various use applications(use cases) without setting, by the user 9, which information is a basisto generate the route guidance information Ir1 and Ir2. Specifically, itis only necessary for the user 9 to set the move mode Mm with use of theoperation device 2, and it is possible to easily obtain suitable routeguidance information Ir1 and Ir2 without selecting whether or not to usecomplicated tag information, etc., which makes it possible tosignificantly improve usability of the mobile body system 3 for the user9.

2. Modification Examples

Next, description is given of modification examples (modificationexamples 1 to 3) of the foregoing embodiment. It is to be noted that thesame components are denoted by the same reference numerals, anddescription thereof is omitted as appropriate.

Moreover, a first information processing method and a first informationprocessing program according to each of these modification examples areembodied by a mobile body according to a corresponding one of themodification examples. Moreover, a second information processing methodand a second information processing program according to each of themodification examples are embodied by an operation device (informationprocessor) according to a corresponding one of the modificationexamples. Accordingly, these methods and programs are also describedbelow.

Modification Example 1 Configuration

FIG. 16 illustrates a block diagram of each of a mobile body (mobilebody 1A) and an operation device (operation device 2A) according to themodification example 1 as a configuration example of a mobile bodysystem (mobile body system 3A) according to the modification example 1.In other words, the mobile body system 3A according to the presentmodification example includes the mobile body 1A and the operationdevice 2A. It is to be noted that the operation device 2A corresponds toa specific example of an “information processor” in the presentdisclosure.

The mobile body 1A corresponds to the mobile body 1 described in theforegoing embodiment further including a communication operation unit15, and other configurations of the mobile body 1A are similar to thosein the mobile body 1. The communication operation unit 15 has a function(communication function) of performing various kinds of communicationoperations with mobile bodies other than the mobile body 1A with use ofwireless communication, as described in detail later.

The operation device 2A corresponds to the operation device 2 describedin the foregoing embodiment provided with a controller 28A in place ofthe controller 28, and other configurations of the operation device 2Aare similar to those of the operation device 2. The controller 28Acorresponds to the controller 28 having a function (communicationcontrol function) of performing various kinds of control in theforegoing communication operations, and other configurations of thecontroller 28A are similar to those of the controller 28. Specifically,the controller 28A supplies, with use of the wireless communication C12,a control signal for a communication operation in the communicationoperation unit 15 of the mobile body 1A on the basis of, for example, aninstruction signal related to the communication operation inputted tothe operation device 2A by the user 9.

Herein, the controller 28A corresponds to a specific example of a“communication controller” in the present disclosure. Moreover, thecontroller 28A and the information generator 27 correspond to specificexamples of a “computer in a information processor” in the presentdisclosure.

Operation, Workings, and Effects

In the communication operation unit 15 according to the presentmodification example, the communication operation with other mobilebodies is performed in accordance with communication control by thecontroller 28A in the following manner, for example. It is to be notedthat a case where the mobile body 1A performs a predeterminedcommunication operation with the other mobile body 1 a illustrated inFIG. 15 mentioned above is described as an example.

Specifically, first, for example, as illustrated in FIG. 17, thecommunication operation unit 15 in the mobile body 1A may conduct, assuch communication, negotiation with the other mobile body 1 a toperform a predetermined operation. Herein, examples of this“predetermined operation” include transmission and reception operationof various kinds of information, a conversation operation (chattingoperation), and an electric power feeding operation (wired or wirelesselectric power feeding operation) with the other mobile body 1 a, andthe predetermined operation may include one or more of these operations.It is to be noted that such mutual communication between such a mobilebody 1A and the other mobile body 1A is performed through wirelesscommunication C11 therebetween. It is possible to use any of variouscommunication systems for the wireless communication C11 as with theforegoing wireless communication C12 and C18. Moreover, a mutualcommunication operation between such mobile bodies may be performed withuse of various SNS (Social Networking Service) functions.

Herein, in the case of the foregoing electric power feeding operation,for example, it is possible for the mobile body 1A to receive electricpower supply from the other mobile body 1 a through contactless electricpower feeding in accordance with a result of negotiation with the othermobile body 1 a. Conversely, the mobile body 1A may supply electricpower to the other mobile body 1 a through contactless electric powerfeeding in accordance with a request from the other mobile body 1 a. Itis to be noted that after such electric power supply is executed, as anexample of workings, the mobile body that supplies electric power mayreceive various kinds of points in return from the mobile body thatreceives the electric power. In such a case, for example, in case of anemergency caused by shortage of electric power, etc., it is possible tomutually exchange electric power by conducting communication(negotiation) between a plurality of mobile bodies, which improvesconvenience of the user 9. It is to be noted that the electric powerfeeding operation is not limited to the wireless electric power feeding(contactless electric power feeding), and a wired electric power feedingoperation (an electric power feeding operation through plug-inconnection) may be adopted; however, it is expected that a plug-in workby the mobile bodies (robots) is difficult; therefore, it is said thatusing contactless electric power feeding is desirable.

Moreover, as illustrated in FIG. 18, examples of the foregoing“predetermined operation” may include an operation of switching a mobilebody to be used (to be operated) by the user 9. For example, anoperation in which any other mobile body located around a recommendedsite is recommended on the basis of information regarding the user 9(the information It1 regarding the GPS of the operation device 2, thesearch history information It2 in the operation device 2, etc. mentionedabove), and the mobile body to be used (to be operated) is switched tothe other mobile body, or the like is assumed as this switchingoperation. In this example, the mobile body to be used (to be operated)by the user 9 is switched from the mobile body 1A to the mobile body 1 athrough a communication operation (negotiation) between the mobilebodies 1A and 1 a. In such a case, for example, in a case where a strollis taken in another facility or another tourist site located at adistance from the mobile body 1A, or the like, effort (time) necessaryfor the mobile body 1A itself to move to the site is saved by theoperation of switching the mobile body, which makes it possible toexecute an efficient movement operation. This makes it possible toimprove convenience of the user 9.

As described above, in the present modification example, various kindsof communication operations are performed between a plurality of mobilebodies (the communication function is provided), which makes it possibleto further improve convenience of the user 9. It is to be noted that, inaddition to the foregoing example, for example, various kinds of eventssuch as a secret party through the mobile bodies (in which conversationbetween the mobile bodies is not leaked to its surroundings) and amarriage hunting party using the mobile body 1A in place of the user 9may be held with use of such various kinds of communication operationsbetween the plurality of mobile bodies.

Modification Examples 2 and 3

FIG. 19 illustrates a block diagram of each of a mobile body (mobilebody 1 or mobile body 1A) and an operation device (operation device 2B)according to the modification example 2 as a configuration example of amobile body system (mobile body system 3B) according to the modificationexample 2. In other words, the mobile body system 3B according to thepresent modification example includes the mobile body 1 (or the mobilebody 1A) and the operation device 2B. It is to be noted that theoperation device 2B corresponds to a specific example of an “informationprocessor” in the present disclosure.

In the mobile body system 3B according to the modification example 2,while the foregoing information generator 17 is provided in the mobilebody 1 (or the mobile body 1A), the foregoing information generator 27is not provided in the operation device 2B, as illustrated in FIG. 19.

FIG. 20 illustrates a block diagram of each of a mobile body (mobilebody 1C) and an operation device (operation device 2 or operation device2A) according to the modification example 3 as a configuration exampleof a mobile body system (mobile body system 3C) according to themodification example 3. In other words, the mobile body system 3Caccording to the present modification example includes the mobile body1C and the operation device 2 (or the operation device 2A).

In the mobile body system 3A according to the modification example 3,while the foregoing information generator 27 is provided in theoperation device 2 (or the operation device 2A), the foregoinginformation generator 17 is not provided in the mobile body 1C, asillustrated in FIG. 20.

It is to be noted that in FIGS. 19 and 20, blocks other than theinformation generators 17 and 27 in the mobile bodies 1, 1A, and 1C andin the operation devices 2, 2A, and 2B are not illustrated forconvenience of description.

Herein, in each of the mobile body systems 3 and 3A according to theembodiment and the modification example 1, the information generator 17is provided in the mobile body 1 or 1A, and the information generator 27is provided in the operation device 2 or 2A. However, as with thesemodification examples 2 and 3, only one of the information generator 17in the mobile body 1, 1A, or 1C and the information generator 27 in theoperation device 2, 2A, or 2B may be provided. In other words, in themobile body system of the present disclosure, at least one of theinformation generator 17 and the information generator 27 may beprovided.

Even in these cases, effects similar to those in the embodiment and themodification example 1 are basically achievable. In other words, atleast one of the information generator 17 and the information generator27 is provided, which makes it possible to easily create at least one ofthe route guidance information Ir1 and the route guidance informationIr2 in at least one of the mobile body and the operation device (theinformation processor). This makes it possible to improve convenience ofthe user 9.

3. Other Modification Examples

Although the technology of the present disclosure has been describedabove referring to some embodiments and modification examples, thepresent technology is not limited to these embodiments, etc., and may bemodified in a variety of ways.

For example, in the foregoing embodiment, etc., configuration examplesof the mobile body and the operation device (information processor) inthe mobile body system have been described in detail; however,configurations of the mobile body and the operation device are notlimited to these configuration examples. Specifically, for example, aportion of any of these configurations may be replaced with anotherconfiguration, or another configuration may be further provided.Moreover, the shape, size, position, number, etc. of each ofconfigurations are not limited to those in the foregoing embodiment,etc., and may be any shape, size, position, number, etc.

More specifically, as the configuration of the movement mechanismapplied to the mobile body of the present disclosure, for example, atleast one of the walking mechanism, the wheel mechanism, and the flyingmechanism described in the foregoing embodiment, etc. may be included.Alternatively, the movement mechanism may be configured with use of anyother mechanism.

Further, the technique of generating the route guidance information bythe information generator is not limited to the technique described inthe foregoing embodiment, etc., and the route guidance information maybe generated with use of any other technique (any other information).

Furthermore, the technique of controlling the operation of the movementmechanism by the controller is not limited to the technique described inthe foregoing embodiment, etc., and the operation of the movementmechanism may be controlled with use of any other technique.

In addition, the technique of route suggestion with use of the generatedroute guidance information (such as a method of displaying route plans)is not limited to the technique described in the foregoing embodiment,etc., and route suggestion may be made to the user with use of, forexample, an AR (Augmented Reality) function.

Moreover, the technique of the communication operation and control ofthe communication operation (communication control) are not limited tothose described in the modification example 1, and communicationoperation and communication control may be performed with use of anyother technique.

Further, in the foregoing embodiment, etc., description has been givenby referring to the mobile body system including one mobile body and oneoperation device (information processor) as an example; however, themobile body system is not limited to this example, and the mobile bodysystem may be constructed by including a plurality of mobile bodies anda plurality of operation devices (information processors), for example.

In addition, the processes described in the foregoing embodiment, etc.may be executed by hardware (circuitry) or software (a program). In acase where the processes are executed by software, the software includesa group of programs used to execute respective functions by a computer.Each of the programs may be preinstalled into the foregoing computer andthereafter may be used, or each of the programs may be installed intothe foregoing computer from a network or a recording medium andthereafter may be used.

Moreover, various examples described above may be applied in anycombination.

It is to be noted that the effects described herein are merelyexemplified and non-limiting, and effects achieved by the technology maybe effects other than those described herein.

Moreover, the present technology may have the following configurations.

(1)

A mobile body comprising:

an imaging unit;

a movement mechanism that moves itself;

a wireless communication unit that performs wireless communication; and

an information generator that generates, on a basis of externalinformation received from outside by the wireless communication unit,route guidance information for use in allowing the movement mechanism tomove itself.

(2)

The mobile body according to (1), in which the external information isinherent information held in an information processor as an operationdevice for the mobile body.

(3)

The mobile body according to (2), in which the inherent informationincludes one or both of information regarding a GPS and search historyinformation in the information processor.

(4)

The mobile body according to any one of (1) to (3), in which

a plurality of kinds of move modes used for movement by the movementmechanism are provided, and

the external information is used in accordance with the move mode set bya user.

(5)

The mobile body according to (4), in which the information generatorgenerates the route guidance information with use of a correspondencerelationship between mode setting information indicating the move modeand information including the external information corresponding to eachof the plurality of kinds of move modes.

(6)

The mobile body according to (4) or (5), in which the informationgenerator further uses movement history information in the mobile bodyto generate the route guidance information.

(7)

The mobile body according to any one of (1) to (6), in which theinformation generator further uses captured image data obtained by theimaging unit, position information of the mobile body, and mapinformation to generate the route guidance information.

(8)

The mobile body according to (7), in which

the captured image data, the position information, and the mapinformation are stored together with data update time informationregarding the captured image data while corresponding to the data updatetime information, and

the information generator automatically generates the route guidanceinformation on a regular basis with use of the data update timeinformation to update the captured image data on a regular basis.

(9)

The mobile body according to (7) or (8), further including an anomalydetector that compares a same point between the captured image dataobtained at a present time and the captured image data obtained at apast time with use of the position information and the map informationto detect an anomaly.

(10)

The mobile body according to any one of (1) to (9), further including acommunication operation unit that performs communication with othermobile bodies with use of the wireless communication.

(11)

The mobile body according to (10), in which the communication operationunit performs, as the communication, negotiation with the other mobilebodies to perform a predetermined operation.

(12)

The mobile body according to (11), in which the predetermined operationincludes one or more of information transmission-reception operation, aconversation operation, an electric power feeding operation, and aswitching operation of the mobile body to be used by a user.

(13)

The mobile body according to any one of (1) to (12), further including amovement controller that controls a movement operation by the movementmechanism.

(14)

The mobile body according to (13), in which

a solar cell used as a power source of the mobile body is provided, and

the movement controller controls the movement mechanism to cause themobile body to preferentially move outdoors during daylight hours.

(15)

The mobile body according to (13) or (14), further including a positiondetector that detects whether the mobile body is located in an areawhere the wireless communication is executable,

in which the movement controller controls the movement mechanism tocause the mobile body to move to inside of the area in a case where theposition detector detects that the mobile body is not located in thearea.

(16)

The mobile body according to any one of (13) to (15), in which themovement controller controls the movement mechanism to cause the mobilebody to automatically move on a basis of preset schedule information.

(17)

The mobile body according to any one of (1) to (16), in which theinformation generator generates the route guidance information withconsideration also given to action history information of a userobtained in a standby state of the mobile body.

(18)

The mobile body according to any one of (1) to (17), in which

one or more pieces of the route guidance information generated by theinformation generator are provided to a user through the wirelesscommunication, and

the movement mechanism moves the mobile body on a basis of a routedetermined by the user.

(19)

The mobile body according to any one of (1) to (18), in which themovement mechanism includes one or more of a walking mechanism, a wheelmechanism, and a flying mechanism.

(20)

The mobile body according to (19), in which

the movement mechanism includes one of the wheel mechanism and thewalking mechanism, and

the information generator generates the route guidance information whileavoiding a route having a level difference.

(21)

An information processor including:

a wireless communication unit that performs wireless communication witha mobile body including an imaging unit and a movement mechanism;

a user interface unit;

a storage unit; and

an information generator that generates route guidance information foruse in moving the mobile body by the movement mechanism on a basis ofone or more pieces of information out of received information receivedfrom the mobile body by the wireless communication unit, inputinformation inputted by a user in the user interface unit, and heldinformation held in the storage unit.

(22)

The information processor according to (21), in which the informationgenerator generates the route guidance information on a basis of thereceived information, the input information, and the held information.

(23)

The information processor according to (21) or (22), in which

the received information includes movement history information in themobile body,

the input information includes search history information in theinformation processor, and

the held information includes information regarding a GPS in theinformation processor.

(24)

The information processor according to any one of (21) to (23), in whichthe user interface unit outputs, to a user, each of position informationof a plurality of the mobile bodies on a basis of the receivedinformation.

(25)

The information processor according to (24), in which the informationgenerator uses each of the position information of the plurality of themobile bodies to generate the route guidance information for use inallowing the mobile bodies to come closer to one another by a shortestroute.

(26)

The information processor according to (25), in which the informationgenerator generates the route guidance information by the shortest routein consideration of remaining electric power information of the mobilebody as the received information.

(27)

The information processor according to any one of (24) to (26), furtherincluding a communication controller that controls a communicationoperation performed between the plurality of the mobile bodies with useof the wireless communication.

(28)

A mobile body system including:

a mobile body including an imaging unit, a first wireless communicationunit, and a movement mechanism that moves itself; and

an information processor including a second wireless communication unit,a user interface unit, and a storage unit, the second wirelesscommunication unit that performs wireless communication with the mobilebody, in which

one or both of a first information generator in the mobile body and asecond information generator in the information processor are provided,

the first information generator that generates first information asroute guidance information for use in moving the mobile body by themovement mechanism on a basis of external information received fromoutside by the first wireless communication unit, and

the second information generator that generates second information asthe route guidance information on a basis of one or more pieces ofinformation out of received information received from the mobile body bythe second wireless communication unit, input information inputted by auser in the user interface unit, and held information held in thestorage unit.

(29)

The mobile body system according to (28), in which

the first information generator is provided in the mobile body, and

the second information generator is provided in the informationprocessor.

(30)

An information processing method including:

a first step of receiving external information from outside throughwireless communication in a mobile body including an imaging unit and amovement mechanism; and

a second step of generating route guidance information for use in movingthe mobile body by the movement mechanism on a basis of the externalinformation received in the first step.

(31)

An information processing method including:

a first step of obtaining one or more pieces of information out ofreceived information received from a mobile body including an imagingunit and a movement mechanism through wireless communication with themobile body, input information inputted from a user in a user interfaceunit in an information processor, and held information held in a storageunit in the information processor; and

a second step of generating route guidance information for use in movingthe mobile body by the movement mechanism on a basis of the one or morepieces of information obtained in the first step.

(32)

An information processing program causing, when executed by a computerin a mobile body, the computer to implement:

a first step of receiving external information from outside throughwireless communication in the mobile body including an imaging unit anda movement mechanism; and

a second step of generating route guidance information for use in movingthe mobile body by the movement mechanism on a basis of the externalinformation received in the first step.

(33)

An information processing program causing, when executed by a computerin an information processor, the computer to implement:

a first step of obtaining one or more pieces of information out ofreceived information received from a mobile body including an imagingunit and a movement mechanism through wireless communication with themobile body, input information inputted from a user in a user interfaceunit in the information processor, and held information held in astorage unit in the information processor; and

a second step of generating route guidance information for use in movingthe mobile body by the movement mechanism on a basis of the one or morepieces of information obtained in the first step.

The present application is based on and claims priority from JapanesePatent Application No. 2015-160051 filed in the Japan Patent Office onAug. 14, 2015, the entire contents of which is hereby incorporated byreference.

It should be understood by those skilled in the art that variousmodifications, combinations, sub-combinations and alterations may occurdepending on design requirements and other factors insofar as they arewithin the scope of the appended claims or the equivalents thereof.

1. A mobile body comprising: a movement mechanism configured to move themobile body; an imaging unit configured to obtain image data; andcircuitry configured to: receive external information, generate routeguidance information for use in allowing the movement mechanism to movethe mobile body based on the image data, the external information,position information of the mobile body, and map information, andcommunicate a negotiation with other mobile bodies to perform apredetermined operation.
 2. The mobile body according to claim 1,wherein the circuitry generates the route guidance information with useof a correspondence relationship between mode setting information, whichsets an autonomous move mode of a plurality of autonomous move modes,and a plurality of kinds of information for each of the plurality ofautonomous move modes, and wherein the route guidance informationincludes at least two selectable routes.
 3. The mobile body according toclaim 1, wherein the external information includes one or both of: GPSinformation, and search history information stored in a memoryassociated with an information processor.
 4. The mobile body accordingto claim 1, wherein the image data, the position information, and themap information are stored together with data update time informationregarding the image data, and wherein the circuitry generates the routeguidance information on a regular basis with use of the data update timeinformation, with updated image data being stored as the image data on aregular basis, and with the map information being automatically updatedon a regular basis.
 5. The mobile body according to claim 1, wherein thecircuitry uses movement history information in the mobile body togenerate the route guidance information.
 6. The mobile body according toclaim 1, further comprising an anomaly detector that detects an anomalybased on the position information of the mobile body and a comparison ofa same point between the image data and previously obtained image data,obtained at a past time.
 7. The mobile body according to claim 1,wherein the predetermined operation includes any one or any combinationof: an information transmission-reception operation, a conversationoperation, an electric power feeding operation, and a switchingoperation of the mobile body.
 8. The mobile body according to claim 1,wherein the circuitry generates the route guidance information withconsideration given to action history information of a user obtained ina standby state of the mobile body.
 9. The mobile body according toclaim 1, wherein one or more pieces of the route guidance informationgenerated by the circuitry is or are provided to a user via a wirelesscommunication, and the movement mechanism moves the mobile bodyautonomously on a basis of a route determined by the user.
 10. A methodof operating a mobile body, the method comprising: obtaining image dataat the mobile body; receiving external information at the mobile body;generating route guidance information at the mobile body to be used inallowing a movement mechanism of the mobile body to move the mobilebody, the generating being based on the image data, the externalinformation, position information of the mobile body, and mapinformation; and communicating a negotiation with other mobile bodies toperform a predetermined operation.
 11. The method according to claim 10,wherein the generating generates the route guidance information with useof a correspondence relationship between mode setting information, whichsets an autonomous move mode of a plurality of autonomous move modes,and a plurality of kinds of information for each of the plurality ofautonomous move modes, and wherein the route guidance informationincludes at least two selectable routes.
 12. The method according toclaim 10, wherein the external information includes one or both of: GPSinformation, and search history information stored in a memoryassociated with an information processor.
 13. The method according toclaim 10, wherein the image data, the position information, and the mapinformation are stored together with data update time informationregarding the image data, and wherein the generating generates the routeguidance information on a regular basis with use of the data update timeinformation, with updated image data being stored as the image data on aregular basis, and with the map information being automatically updatedon a regular basis.
 14. The method according to claim 10, wherein thegenerating generates the route guidance information using movementhistory information in the mobile body.
 15. The method according toclaim 10, further comprising detecting an anomaly based on the positioninformation of the mobile body and a comparison of a same point betweenthe image data and previously obtained image data, obtained at a pasttime.
 16. The method according to claim 10, wherein the predeterminedoperation includes any one or any combination of: an informationtransmission-reception operation, a conversation operation, an electricpower feeding operation, and a switching operation of the mobile body.17. The method according to claim 10, wherein the generating generatesthe route guidance information with consideration given to actionhistory information of a user obtained in a standby state of the mobilebody.
 18. The method according to claim 10, further comprising:communicating one or more pieces of the route guidance information to auser via a wireless communication; and moving the mobile bodyautonomously using a movement mechanism based on a route determined bythe user.
 19. A mobile body system comprising: a mobile body including:a first wireless communicator configured to perform wirelesscommunication with an external device, a movement mechanism configuredto move the mobile body, and an imaging unit configured to obtain imagedata; and an information processor including: a user interface, astorage unit, and a second wireless communicator configured to performwireless communication with the mobile body, wherein one or both of:circuitry in the mobile body and an information generator in theinformation processor is or are provided, in which the circuitry isconfigured to generate first information as route guidance informationfor use in moving the mobile body autonomously by the movement mechanismbased on external information received by the first wirelesscommunicator, the image data, position information of the mobile body,and map information, and in which the information generator isconfigured to generate second information as the route guidanceinformation based on one or more pieces of information out of receivedinformation received from the mobile body by the second wirelesscommunicator, input information inputted by a user via the userinterface unit, and stored information in the storage unit, and whereinthe circuitry and the first wireless communicator of the mobile body areconfigured to communicate a negotiation with other mobile bodies toperform a predetermined operation.
 20. A non-transitorycomputer-readable storage medium storing code for an informationprocessing program that, when executed by a computer in a mobile body,causes the computer to perform a method comprising: obtaining image datafrom an imaging unit at the mobile body; obtaining external informationtransmitted to the mobile body; generating route guidance information tobe used in allowing a movement mechanism of the mobile body to move themobile body, the generating being based on the image data, the externalinformation, position information of the mobile body, and mapinformation; and communicating a negotiation with other mobile bodies toperform a predetermined operation.